Minimal time synthesis for a kinematic drone model

Abstract : In this paper, we consider a (rough) kinematic model for a UAV flying at constant altitude moving forward with positive lower and upper bounded linear velocities and positive minimum turning radius. For this model, we consider the problem of minimizing the time travelled by the UAV starting from a general configuration to connect a specified target being a fixed circle of minimum turning radius. The time-optimal synthesis is presented as a partition of the state space which defines a unique optimal path such that the target can be reached optimally.
Type de document :
Article dans une revue
Mathematical Control and Related Fields, AIMS, 2017, 7 (2), pp.259 - 288. 〈10.3934/mcrf.2017009〉
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-01643247
Contributeur : Vincent Andrieu <>
Soumis le : mardi 21 novembre 2017 - 11:36:17
Dernière modification le : jeudi 19 avril 2018 - 14:34:08

Identifiants

Collections

Citation

Marc-Aurèle Lagache, Ulysse Serres, Vincent Andrieu. Minimal time synthesis for a kinematic drone model. Mathematical Control and Related Fields, AIMS, 2017, 7 (2), pp.259 - 288. 〈10.3934/mcrf.2017009〉. 〈hal-01643247〉

Partager

Métriques

Consultations de la notice

70

Téléchargements de fichiers

143